Add new commands and identifiers for the capper, start moving into capital characters

This commit is contained in:
Matt McWilliams 2022-06-07 07:55:26 -04:00
parent f585aa2a5a
commit c77201ef4e
2 changed files with 165 additions and 1 deletions

View File

@ -179,9 +179,12 @@
"camera_projectors_identifier": "5", "camera_projectors_identifier": "5",
"cameras_projector_identifier": "6", "cameras_projector_identifier": "6",
"cameras_projectors_identifier": "7", "cameras_projectors_identifier": "7",
"capper_identifier" : "C",
"camera_capper_identifier" : "8", "camera_capper_identifier" : "8",
"camera_capper_projector_identifier" : "9", "camera_capper_projector_identifier" : "9",
"camera_capper_projectors_identifier" : "0" "camera_capper_projectors_identifier" : "0",
"cap_on" : "A",
"cap_off" : "B"
} }
} }
} }

View File

@ -0,0 +1,161 @@
#include <Servo.h>
boolean debug_state = false;
/*
----------------------------------------------------
Servo - Arduino
-
Red - 5V
Black - GND
Yellow - PWM Pin (9 in example)
Optical Endstop
-
Red - 5V
Black - GND
Yellow - Pin 10
----------------------------------------------------
*/
/* ------------------------------------------------
* pins
* ------------------------------------------------*/
//Arduino Duemilanove
const int PIN_SERVO = 9;
const int PIN_ENDSTOP = 10;
volatile boolean running = false;
volatile boolean cap_state = false;
volatile boolean endstop_state = false;
volatile int angle = 0;
const int cap_on_angle = 0;
const int cap_off_angle = 60;
volatile long timer = 0;
const char cmd_cap_on = 'A';
const char cmd_cap_off = 'B';
const char cmd_debug = 'd';
const char cmd_connect = 'i';
volatile char cmd_char = 'z';
const char cmd_mcopy_identifier = 'm';
const char cmd_capper_identifier = 'C';
const int serialDelay = 5;
Servo servo;
//SG-5010 speed 0.18s / 60 degree
//converted to milliseconds/angle
const float servoSpeed = 180.0 / 60.0;
void setup() {
Serial.begin(57600);
Serial.flush();
Serial.setTimeout(serialDelay);
Pins_init();
}
void loop() {
if (Serial.available()) {
/* read the most recent byte */
cmd_char = (char)Serial.read();
}
if (cmd_char != 'z') {
cmd(cmd_char);
cmd_char = 'z';
}
timer = millis();
}
void cmd (char val) {
if (val == cmd_debug) {
debug();
} else if (val == cmd_connect) {
connect();
} else if (val == cmd_mcopy_identifier) {
identify();
} else if (val == cmd_cap_on) {
Cap_on(false);
} else if (val == cmd_cap_off) {
Cap_off(false);
}
}
void debug () {
debug_state = true;
Serial.println(cmd_debug);
log("debugging enabled");
}
void connect () {
Serial.println(cmd_connect);
log("connect()");
}
void identify () {
Serial.println(cmd_capper_identifier);
log("identify()");
}
void Pins_init () {
pinMode(PIN_ENDSTOP, INPUT_PULLUP);
}
void Servo_init () {
servo.attach(PIN_SERVO);
delay(100);
if (!Read_endstop()) {
Cap_off(true);
}
}
boolean Read_endstop () {
return digitalRead(PIN_ENDSTOP) != LOW;
}
void Servo_angle (int newAngle) {
servo.write(newAngle);
delay(Servo_delay(newAngle, angle));
angle = newAngle;
}
int Servo_delay (int angleA, int angleB) {
int angle = abs(angleA - angleB);
return (int) ceil((float) angle * servoSpeed);
}
void Cap_off (boolean suppress) {
if (cap_state) {
Servo_angle(cap_off_angle);
cap_state = false;
} else {
log("Cap already off");
}
log("Cap_off()");
if (!suppress) {
Serial.println(cmd_cap_off);
}
}
void Cap_on (boolean suppress) {
if (!cap_state) {
Servo_angle(cap_on_angle);
cap_state = true;
} else {
log("Cap already on");
}
log("Cap_on()");
if (!suppress) {
Serial.println(cmd_cap_on);
}
}
void log (String msg) {
if (debug_state) {
Serial.println(msg);
}
}